JP7295759B2 - 作業機械 - Google Patents

作業機械 Download PDF

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Publication number
JP7295759B2
JP7295759B2 JP2019173087A JP2019173087A JP7295759B2 JP 7295759 B2 JP7295759 B2 JP 7295759B2 JP 2019173087 A JP2019173087 A JP 2019173087A JP 2019173087 A JP2019173087 A JP 2019173087A JP 7295759 B2 JP7295759 B2 JP 7295759B2
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JP
Japan
Prior art keywords
bucket
target
arm
work
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2019173087A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021050494A (ja
Inventor
寿身 中野
宏明 田中
悠介 鈴木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to JP2019173087A priority Critical patent/JP7295759B2/ja
Priority to EP20868167.6A priority patent/EP4036318A4/en
Priority to PCT/JP2020/035871 priority patent/WO2021060302A1/ja
Priority to KR1020217025970A priority patent/KR102588223B1/ko
Priority to CN202080015539.8A priority patent/CN113454293B/zh
Priority to US17/437,879 priority patent/US12077933B2/en
Publication of JP2021050494A publication Critical patent/JP2021050494A/ja
Application granted granted Critical
Publication of JP7295759B2 publication Critical patent/JP7295759B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
JP2019173087A 2019-09-24 2019-09-24 作業機械 Active JP7295759B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2019173087A JP7295759B2 (ja) 2019-09-24 2019-09-24 作業機械
EP20868167.6A EP4036318A4 (en) 2019-09-24 2020-09-23 CONSTRUCTION MACHINE
PCT/JP2020/035871 WO2021060302A1 (ja) 2019-09-24 2020-09-23 作業機械
KR1020217025970A KR102588223B1 (ko) 2019-09-24 2020-09-23 작업 기계
CN202080015539.8A CN113454293B (zh) 2019-09-24 2020-09-23 作业机械
US17/437,879 US12077933B2 (en) 2019-09-24 2020-09-23 Work machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019173087A JP7295759B2 (ja) 2019-09-24 2019-09-24 作業機械

Publications (2)

Publication Number Publication Date
JP2021050494A JP2021050494A (ja) 2021-04-01
JP7295759B2 true JP7295759B2 (ja) 2023-06-21

Family

ID=75157267

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019173087A Active JP7295759B2 (ja) 2019-09-24 2019-09-24 作業機械

Country Status (6)

Country Link
US (1) US12077933B2 (zh)
EP (1) EP4036318A4 (zh)
JP (1) JP7295759B2 (zh)
KR (1) KR102588223B1 (zh)
CN (1) CN113454293B (zh)
WO (1) WO2021060302A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7559667B2 (ja) * 2021-04-26 2024-10-02 コベルコ建機株式会社 目標軌跡生成システム
CN113338371B (zh) * 2021-06-18 2023-02-03 三一重机有限公司 挖掘机平地控制方法及系统
CN114688004B (zh) * 2022-03-16 2023-10-27 三一重机有限公司 流量分配方法、装置及作业机械

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104120745A (zh) 2014-07-28 2014-10-29 三一重机有限公司 一种挖掘机自动平地控制方法
WO2017086488A1 (ja) 2016-11-29 2017-05-26 株式会社小松製作所 建設機械の制御装置及び建設機械の制御方法
JP2018080510A (ja) 2016-11-16 2018-05-24 日立建機株式会社 作業機械

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5948534A (ja) * 1982-09-09 1984-03-19 Hitachi Constr Mach Co Ltd 油圧ショベルの掘削制御方法および装置
JP3455369B2 (ja) * 1996-06-26 2003-10-14 日立建機株式会社 建設機械のフロント制御装置
JP3765461B2 (ja) * 1999-05-20 2006-04-12 日立建機株式会社 建設機械の作業機制御装置
WO2016148311A1 (ja) * 2016-04-08 2016-09-22 株式会社小松製作所 作業車両の制御システム、制御方法、及び作業車両
JP6732539B2 (ja) * 2016-05-26 2020-07-29 日立建機株式会社 作業機械
KR20190032287A (ko) * 2017-08-31 2019-03-27 가부시키가이샤 고마쓰 세이사쿠쇼 작업 기계의 제어 시스템 및 작업 기계의 제어 방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104120745A (zh) 2014-07-28 2014-10-29 三一重机有限公司 一种挖掘机自动平地控制方法
JP2018080510A (ja) 2016-11-16 2018-05-24 日立建機株式会社 作業機械
WO2017086488A1 (ja) 2016-11-29 2017-05-26 株式会社小松製作所 建設機械の制御装置及び建設機械の制御方法

Also Published As

Publication number Publication date
KR20210115007A (ko) 2021-09-24
WO2021060302A1 (ja) 2021-04-01
JP2021050494A (ja) 2021-04-01
US20220170234A1 (en) 2022-06-02
CN113454293A (zh) 2021-09-28
CN113454293B (zh) 2022-09-30
US12077933B2 (en) 2024-09-03
EP4036318A1 (en) 2022-08-03
EP4036318A4 (en) 2023-10-18
KR102588223B1 (ko) 2023-10-12

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